version: 66.06
glider: 146
mission: 6
dive: 595
start: 7 28 111 5 20 51
data:
$ID,146
$MISSION,6
$DIVE,595
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,300
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52520
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-282349.91
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3175
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3010
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0036476359
$SEABIRD_T_H,0.00058019959
$SEABIRD_T_I,1.488937e-05
$SEABIRD_T_J,2.4708795e-06
$SEABIRD_C_G,-10.237597
$SEABIRD_C_H,1.1413157
$SEABIRD_C_I,-0.0016513355
$SEABIRD_C_J,0.00021051844
$GPS1,051231,2227.316,-15800.583,39,1.1,39,10.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,2
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.0
$GPS2,052001,2227.356,-15800.669,13,1.0,13,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.105,-0.190
$KALMAN_X,-590265.2,18.2,-153.6,583787.0,-1588.7
$KALMAN_Y,250686.3,514.9,11.9,-281860.0,7.1
$MHEAD_RNG_PITCHd_Wd,141.0,50871,-21.6,-10.000
$D_GRID,900
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.47,-97.3,0.0,0.0,0,87,0.00,0.00,-69.18,0.000,2,0.000,0.000,476,2119,3197,0,0,0,0,0,0
$GC,90,-1.47,-97.3,3.7,-7.1,11,118,12.62,2.78,-4.10,0.000,4,0.157,0.060,2848,506,3409,0,0,0,0,0,0
$GC,157,-1.36,-97.3,21.1,-18.8,22,165,0.10,2.50,0.00,0.000,6,0.110,0.017,2872,2108,3410,0,0,0,0,0,0
$GC,550,-1.32,-97.3,79.4,-13.8,64,551,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2109,3412,0,0,0,0,0,0
$GC,933,-1.38,-97.3,122.7,-10.9,100,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2109,3413,0,0,0,0,0,0
$GC,1313,-1.44,-97.3,162.8,-10.7,136,1318,0.00,2.70,0.00,0.000,4,0.000,0.049,2872,496,3414,0,0,0,0,0,0
$GC,1333,-1.49,-97.3,164.7,-10.7,137,1337,0.00,2.45,0.00,0.000,6,0.000,0.017,2872,2100,3414,0,0,0,0,0,0
$GC,1728,-1.59,-97.3,209.4,-11.2,168,1733,0.17,2.67,0.00,0.000,4,0.059,0.051,2814,506,3415,0,0,0,0,0,0
$GC,1763,-1.54,-97.3,213.7,-13.8,168,1769,0.10,2.42,0.00,0.000,6,0.122,0.017,2836,2088,3415,0,0,0,0,0,0
$GC,2136,-1.58,-97.3,247.9,-7.8,178,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2089,3415,0,0,0,0,0,0
$GC,2501,-1.64,-97.3,282.5,-10.2,187,2505,0.00,2.50,0.00,0.000,4,0.000,0.036,2835,3649,3415,0,0,0,0,0,0
$GC,2542,-1.72,-97.3,287.0,-11.1,188,2547,0.15,2.50,0.00,0.000,6,0.061,0.032,2781,2073,3415,0,0,0,0,0,0
$GC,2947,-1.72,-97.3,331.2,-9.8,198,2952,0.00,2.58,0.00,0.000,4,0.000,0.043,2781,3649,3415,0,0,0,0,0,0
$GC,2981,-1.72,-97.3,334.5,-9.7,198,2987,0.00,2.53,0.00,0.000,6,0.000,0.042,2781,2097,3415,0,0,0,0,0,0
$GC,3354,-1.72,-97.3,370.0,-9.4,208,3359,0.00,2.88,0.00,0.000,4,0.000,0.097,2781,510,3414,0,0,0,0,0,0
$GC,3387,-1.66,-97.3,373.8,-11.0,208,3393,0.15,2.53,0.00,0.000,6,0.110,0.037,2813,2069,3413,0,0,0,0,0,0
$GC,3761,-1.71,-97.3,410.0,-10.4,218,3765,0.00,2.70,0.00,0.000,4,0.000,0.057,2813,3682,3411,0,0,0,0,0,0
$GC,3788,-1.78,-97.3,413.3,-10.5,218,3793,0.10,2.65,0.00,0.000,6,0.080,0.051,2771,2101,3411,0,0,0,0,0,0
$GC,4159,-1.78,-97.3,456.9,-11.3,227,4164,0.00,2.67,0.00,0.000,4,0.000,0.060,2771,3675,3408,0,0,0,0,0,0
$GC,4188,-1.78,-97.3,460.3,-11.8,227,4193,0.00,2.67,0.00,0.000,6,0.000,0.058,2771,2105,3408,0,0,0,0,0,0
$GC,4560,-1.78,-97.3,498.5,-9.7,236,4564,0.00,2.70,0.00,0.000,4,0.000,0.062,2771,3674,3405,0,0,0,0,0,0
$GC,4581,-1.78,-97.3,500.7,-9.7,236,4586,0.00,2.70,0.00,0.000,6,0.000,0.061,2771,2096,3405,0,0,0,0,0,0
$GC,4960,-1.78,-97.3,538.3,-10.2,246,4965,0.00,2.75,0.00,0.000,4,0.000,0.070,2771,3674,3402,0,0,0,0,0,0
$GC,5034,-1.78,-97.3,546.0,-10.3,247,5038,0.00,2.72,0.00,0.000,6,0.000,0.062,2770,2103,3402,0,0,0,0,0,0
$GC,5405,-1.78,-97.3,584.3,-10.5,256,5410,0.00,2.78,0.00,0.000,4,0.000,0.077,2771,3677,3400,0,0,0,0,0,0
$GC,5446,-1.78,-97.3,588.4,-10.7,257,5450,0.00,2.75,0.00,0.000,6,0.000,0.076,2771,2112,3399,0,0,0,0,0,0
$GC,5851,-1.78,-97.3,632.3,-11.0,267,5855,0.00,2.83,0.00,0.000,4,0.000,0.089,2770,3672,3397,0,0,0,0,0,0
$GC,5917,-1.78,-97.3,639.6,-10.4,268,5921,0.00,2.83,0.00,0.000,6,0.000,0.093,2771,2123,3396,0,0,0,0,0,0
$GC,6295,-1.78,-97.3,679.0,-10.2,278,6300,0.00,2.90,0.00,0.000,4,0.000,0.108,2770,3671,3394,0,0,0,0,0,0
$GC,6328,-1.78,-97.3,682.8,-11.0,278,6333,0.00,2.92,0.00,0.000,6,0.000,0.108,2771,2127,3394,0,0,0,0,0,0
$GC,6700,-1.78,-97.3,717.8,-9.0,288,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2127,3391,0,0,0,0,0,0
$GC,7067,-1.78,-97.3,749.5,-8.5,297,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2127,3389,0,0,0,0,0,0
$GC,7431,-1.78,-97.3,781.4,-8.7,306,7436,0.00,3.03,0.00,0.000,4,0.000,0.133,2771,3678,3388,0,0,0,0,0,0
$GC,7464,-1.78,-97.3,784.6,-9.9,306,7469,0.00,2.67,0.00,0.000,6,0.000,0.064,2770,2128,3387,0,0,0,0,0,0
$GC,7837,-1.78,-97.3,818.7,-9.4,316,7842,0.00,3.20,0.00,0.000,4,0.000,0.137,2770,511,3386,0,0,0,0,0,0
$GC,7853,-1.78,-97.3,820.5,-9.8,316,7858,0.00,2.70,0.00,0.000,6,0.000,0.051,2771,2114,3386,0,0,0,0,0,0
$GC,8236,-1.78,-97.3,859.4,-10.4,326,8240,0.00,2.85,0.00,0.000,4,0.000,0.100,2770,3682,3384,0,0,0,0,0,0
$GC,8298,-1.78,-97.3,866.3,-10.8,327,8302,0.00,2.70,0.00,0.000,6,0.000,0.061,2770,2121,3383,0,0,0,0,0,0
$STATE,8637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8637,begin apogee
$GC,8643,-0.31,0.0,902.7,10.6,336,8731,1.52,0.00,83.28,1.241,6,0.089,0.000,3105,1843,3010,0,0,0,0,0,0
$STATE,8731,end apogee,CONTROL_FINISHED_OK
$STATE,8731,begin climb
$GC,8734,1.47,97.3,905.3,0.0,338,8834,1.65,3.20,90.70,1.216,4,0.036,0.123,3502,269,2612,0,0,0,0,0,0
$GC,8849,1.33,175.3,905.4,4.7,341,8932,0.20,2.70,73.00,1.203,6,0.129,0.041,3466,1852,2294,0,0,0,0,0,0
$GC,9338,1.26,175.3,857.0,10.2,353,9343,0.00,2.78,0.00,0.000,4,0.000,0.074,3465,3441,2283,0,0,0,0,0,0
$GC,9405,1.19,175.3,849.9,10.9,354,9410,0.15,2.75,0.00,0.000,6,0.140,0.054,3437,1856,2281,0,0,0,0,0,0
$GC,9786,1.20,184.3,814.3,9.4,364,9800,0.00,2.78,7.07,0.960,4,0.000,0.049,3437,3436,2258,0,0,0,0,0,0
$GC,9823,1.21,193.9,810.4,9.3,364,9839,0.00,2.75,10.93,1.046,6,0.000,0.058,3437,1856,2219,0,0,0,0,0,0
$GC,10235,1.21,193.9,766.9,11.1,375,10240,0.00,2.70,0.00,0.000,4,0.000,0.051,3438,3436,2215,0,0,0,0,0,0
$GC,10276,1.21,193.9,762.2,12.8,376,10280,0.00,2.75,0.00,0.000,6,0.000,0.063,3438,1856,2214,0,0,0,0,0,0
$GC,10681,1.21,193.9,716.7,11.3,386,10682,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1856,2213,0,0,0,0,0,0
$GC,11048,1.21,194.0,678.3,10.0,395,11053,0.00,2.70,0.00,0.000,4,0.000,0.055,3437,3439,2212,0,0,0,0,0,0
$GC,11069,1.22,197.9,676.0,9.7,395,11074,0.00,2.78,0.00,0.000,6,0.000,0.062,3438,1849,2211,0,0,0,0,0,0
$GC,11446,1.22,199.0,639.1,9.9,405,11456,0.00,2.75,5.00,0.795,4,0.000,0.049,3437,3440,2198,0,0,0,0,0,0
$GC,11480,1.22,199.0,635.7,10.1,405,11486,0.00,2.78,0.00,0.000,6,0.000,0.064,3438,1856,2197,0,0,0,0,0,0
$GC,11852,1.22,200.0,598.5,9.9,415,11857,0.00,2.67,0.00,0.000,4,0.000,0.048,3437,3438,2197,0,0,0,0,0,0
$GC,11924,1.22,200.0,590.8,10.5,416,11929,0.00,2.75,0.00,0.000,6,0.000,0.060,3438,1863,2196,0,0,0,0,0,0
$GC,12297,1.22,204.3,554.0,9.7,425,12311,0.00,3.17,6.20,0.825,4,0.000,0.128,3437,261,2178,0,0,0,0,0,0
$GC,12328,1.19,204.3,550.4,10.5,425,12333,0.00,2.67,0.00,0.000,6,0.000,0.031,3437,1873,2177,0,0,0,0,0,0
$GC,12700,1.19,208.5,513.5,9.7,434,12711,0.00,2.67,6.07,0.798,4,0.000,0.063,3437,3432,2159,0,0,0,0,0,0
$GC,12735,1.19,208.8,509.9,10.0,434,12741,0.00,2.75,0.00,0.000,6,0.000,0.059,3437,1853,2158,0,0,0,0,0,0
$GC,13107,1.22,228.4,475.8,8.7,444,13133,0.00,2.70,20.33,0.931,4,0.000,0.048,3437,3435,2077,0,0,0,0,0,0
$GC,13187,1.28,240.3,468.9,9.2,445,13206,0.00,2.72,12.38,0.878,6,0.000,0.059,3437,1867,2029,0,0,0,0,0,0
$GC,13604,1.33,240.3,428.7,10.1,456,13610,0.12,3.05,0.00,0.000,4,0.085,0.114,3469,261,2025,0,0,0,0,0,0
$GC,13626,1.33,240.3,425.7,11.3,456,13631,0.00,2.62,0.00,0.000,6,0.000,0.030,3470,1875,2024,0,0,0,0,0,0
$GC,14005,1.33,240.3,383.0,11.4,466,14006,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,1876,2024,0,0,0,0,0,0
$GC,14369,1.33,240.3,343.6,10.6,475,14373,0.00,2.85,0.00,0.000,4,0.000,0.072,3470,261,2023,0,0,0,0,0,0
$GC,14442,1.29,240.3,334.6,13.1,476,14447,0.00,2.60,0.00,0.000,6,0.000,0.028,3469,1875,2023,0,0,0,0,0,0
$GC,14814,1.29,241.3,295.7,9.9,485,14815,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,1877,2022,0,0,0,0,0,0
$GC,15180,1.36,261.4,262.4,8.6,494,15202,0.00,0.00,19.85,0.759,6,0.000,0.000,3469,1877,1944,0,0,0,0,0,0
$GC,15546,1.44,274.9,228.2,9.1,503,15561,0.00,0.00,13.48,0.705,6,0.000,0.000,3469,1877,1889,0,0,0,0,0,0
$GC,15913,1.52,274.9,191.7,10.1,515,15915,0.15,0.00,0.00,0.000,6,0.073,0.000,3508,1878,1887,0,0,0,0,0,0
$GC,16295,1.53,280.0,151.5,9.7,551,16307,0.00,2.55,6.25,0.550,4,0.000,0.039,3509,3435,1867,0,0,0,0,0,0
$GC,16323,1.53,280.0,148.5,10.4,553,16329,0.00,2.62,0.00,0.000,6,0.000,0.034,3509,1850,1867,0,0,0,0,0,0
$GC,16713,1.53,281.7,109.9,9.9,590,16718,0.00,2.72,0.00,0.000,4,0.000,0.063,3509,268,1867,0,0,0,0,0,0
$GC,16853,1.53,281.7,95.3,11.8,602,16857,0.00,2.53,0.00,0.000,6,0.000,0.027,3509,1878,1866,0,0,0,0,0,0
$GC,17244,1.67,332.5,64.3,6.5,638,17302,0.12,2.58,46.95,0.571,4,0.076,0.031,3544,3412,1653,0,0,0,0,0,0
$GC,17331,1.71,332.5,56.1,11.7,645,17335,0.00,2.58,0.00,0.000,6,0.000,0.035,3544,1860,1652,0,0,0,0,0,0
$GC,17720,1.71,332.5,10.7,11.3,696,17727,0.00,2.75,0.00,0.000,4,0.000,0.060,3544,272,1651,0,0,0,0,0,0
$GC,17758,1.67,332.5,5.6,13.0,702,17766,0.00,2.50,0.00,0.000,6,0.000,0.020,3544,1855,1648,0,0,0,0,0,0
$STATE,17771,end climb,SURFACE_DEPTH_REACHED
$STATE,17771,begin surface coast
$FINISH,0.8,0.980102
$STATE,17804,end surface coast,CONTROL_FINISHED_OK
$STATE,17804,begin surface
$SM_CCo,17827,38.72,0.513,0,0,1460,380.21
$SM_GC,1.47,0.00,0.00,38.72,0.000,0.000,0.513,475,2170,1460,-12.42,1.98,380.21
$IRIDIUM_FIX,2220.67,-15757.62,211000,000005
$TT8_MAMPS,0.026078
$HUMID,64.49
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,20.40
$XPDR_PINGS,163
$24V_AH,22.9,75.587
$10V_AH,9.9,69.579
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.875,175.100,401.475,38.725,0.000,28.849,35.404,224.651,40.750,0.000,15.053,1379.101,13840.246,545.668,1888.792,655.203,33.379,1441.946,0.000,1875.072,0.000,0.534,0.000
$DEVICE_MAMPS,157.235,136.526,1241.006,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,483.338,323.109,444.158,699.733,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355980
$DATA_FILE_SIZE,54042,710
$CAP_FILE_SIZE,139917,0
$CFSIZE,260165632,149417984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280711,102009,2225.624,-15800.504,48,1.1,48,10.0